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Feature/renderable damped surface

Erin Mahan requested to merge feature/renderable-damped-surface into feature/renderable

Description

This merge request is improving the surface damping force output during contact of HapticSurfaces and HapticWalls. I found that a 5th order polynomial works well as the ratio of force output when the depth is less than the DampingRampDepth. I also found added 50% damping if Inside a renderable surface and moving in the normal direction. I also added/ altered the constants of Stiffness, Damping, and DampingRampDepth to values I empirically found to be appropriate to not feel bouncy as kSurfaceStiffnessDefault, kSurfaceDampingDefault, and kSurfaceDampingRampDepth respectively.

What to focus on

  • CalculateForce damping multiplier changes.
  • New/ altered constant values.

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